Ubuntu18.04安装ROS-Melodic

ROS-Melodic安装

1.1添加软件源

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

1.2设置密钥

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt update

1.3安装ROS

sudo apt-get install ros-melodic-desktop-full

#配置环境变量
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

#安装依赖

sudo apt install python-rosdep

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

1.4初始化

参考解决办法

或者直接执行下方代码

sudo apt-get install python3-pip 

sudo pip install rosdepc 

 //报错把pip 换成 pip3
sudo pip3 install rosdepc 


sudo rosdep init

rosdepc update

#安装rosinstall
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential 

测试ROS（小海龟）

打开3个终端，依次输入以下命令

第一个命令可能会年报错
Errno 13] Permission denied: ‘/…文件路径…/.ros/roscore-11311.pid’

需要修改文件权限
sudo chmod 777 -R /文件路径/.ros/

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key  才能控制小海龟移动
#鼠标必须停在这个终端